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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">binocular_disparity</span><span data-if="c" style="display:none;">binocular_disparity</span><span data-if="cpp" style="display:none;">BinocularDisparity</span><span data-if="dotnet" style="display:none;">BinocularDisparity</span><span data-if="python" style="display:none;">binocular_disparity</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">binocular_disparity</span><span data-if="c" style="display:none;">binocular_disparity</span><span data-if="cpp" style="display:none;">BinocularDisparity</span><span data-if="dotnet" style="display:none;">BinocularDisparity</span><span data-if="python" style="display:none;">binocular_disparity</span></code> — Compute the disparities of a rectified image pair using correlation
techniques.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>binocular_disparity</b>(<a href="#ImageRect1"><i>ImageRect1</i></a>, <a href="#ImageRect2"><i>ImageRect2</i></a> : <a href="#Disparity"><i>Disparity</i></a>, <a href="#Score"><i>Score</i></a> : <a href="#Method"><i>Method</i></a>, <a href="#MaskWidth"><i>MaskWidth</i></a>, <a href="#MaskHeight"><i>MaskHeight</i></a>, <a href="#TextureThresh"><i>TextureThresh</i></a>, <a href="#MinDisparity"><i>MinDisparity</i></a>, <a href="#MaxDisparity"><i>MaxDisparity</i></a>, <a href="#NumLevels"><i>NumLevels</i></a>, <a href="#ScoreThresh"><i>ScoreThresh</i></a>, <a href="#Filter"><i>Filter</i></a>, <a href="#SubDisparity"><i>SubDisparity</i></a> : )</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>binocular_disparity</b>(const Hobject <a href="#ImageRect1"><i>ImageRect1</i></a>, const Hobject <a href="#ImageRect2"><i>ImageRect2</i></a>, Hobject* <a href="#Disparity"><i>Disparity</i></a>, Hobject* <a href="#Score"><i>Score</i></a>, const char* <a href="#Method"><i>Method</i></a>, const Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, const Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, const Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, const Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, const Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const char* <a href="#Filter"><i>Filter</i></a>, const char* <a href="#SubDisparity"><i>SubDisparity</i></a>)</code></p>
<p>
<code>Herror <b>T_binocular_disparity</b>(const Hobject <a href="#ImageRect1"><i>ImageRect1</i></a>, const Hobject <a href="#ImageRect2"><i>ImageRect2</i></a>, Hobject* <a href="#Disparity"><i>Disparity</i></a>, Hobject* <a href="#Score"><i>Score</i></a>, const Htuple <a href="#Method"><i>Method</i></a>, const Htuple <a href="#MaskWidth"><i>MaskWidth</i></a>, const Htuple <a href="#MaskHeight"><i>MaskHeight</i></a>, const Htuple <a href="#TextureThresh"><i>TextureThresh</i></a>, const Htuple <a href="#MinDisparity"><i>MinDisparity</i></a>, const Htuple <a href="#MaxDisparity"><i>MaxDisparity</i></a>, const Htuple <a href="#NumLevels"><i>NumLevels</i></a>, const Htuple <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const Htuple <a href="#Filter"><i>Filter</i></a>, const Htuple <a href="#SubDisparity"><i>SubDisparity</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>BinocularDisparity</b>(const HObject&amp; <a href="#ImageRect1"><i>ImageRect1</i></a>, const HObject&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HObject* <a href="#Disparity"><i>Disparity</i></a>, HObject* <a href="#Score"><i>Score</i></a>, const HTuple&amp; <a href="#Method"><i>Method</i></a>, const HTuple&amp; <a href="#MaskWidth"><i>MaskWidth</i></a>, const HTuple&amp; <a href="#MaskHeight"><i>MaskHeight</i></a>, const HTuple&amp; <a href="#TextureThresh"><i>TextureThresh</i></a>, const HTuple&amp; <a href="#MinDisparity"><i>MinDisparity</i></a>, const HTuple&amp; <a href="#MaxDisparity"><i>MaxDisparity</i></a>, const HTuple&amp; <a href="#NumLevels"><i>NumLevels</i></a>, const HTuple&amp; <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const HTuple&amp; <a href="#Filter"><i>Filter</i></a>, const HTuple&amp; <a href="#SubDisparity"><i>SubDisparity</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>BinocularDisparity</b>(const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HString&amp; <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, const HTuple&amp; <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, const HTuple&amp; <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const HTuple&amp; <a href="#Filter"><i>Filter</i></a>, const HString&amp; <a href="#SubDisparity"><i>SubDisparity</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>BinocularDisparity</b>(const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const HString&amp; <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const HString&amp; <a href="#Filter"><i>Filter</i></a>, const HString&amp; <a href="#SubDisparity"><i>SubDisparity</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>BinocularDisparity</b>(const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const char* <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const char* <a href="#Filter"><i>Filter</i></a>, const char* <a href="#SubDisparity"><i>SubDisparity</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>BinocularDisparity</b>(const HImage&amp; <a href="#ImageRect2"><i>ImageRect2</i></a>, HImage* <a href="#Score"><i>Score</i></a>, const wchar_t* <a href="#Method"><i>Method</i></a>, Hlong <a href="#MaskWidth"><i>MaskWidth</i></a>, Hlong <a href="#MaskHeight"><i>MaskHeight</i></a>, double <a href="#TextureThresh"><i>TextureThresh</i></a>, Hlong <a href="#MinDisparity"><i>MinDisparity</i></a>, Hlong <a href="#MaxDisparity"><i>MaxDisparity</i></a>, Hlong <a href="#NumLevels"><i>NumLevels</i></a>, double <a href="#ScoreThresh"><i>ScoreThresh</i></a>, const wchar_t* <a href="#Filter"><i>Filter</i></a>, const wchar_t* <a href="#SubDisparity"><i>SubDisparity</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
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<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>BinocularDisparity</b>(<a href="HObject.html">HObject</a> <a href="#ImageRect1"><i>imageRect1</i></a>, <a href="HObject.html">HObject</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HObject.html">HObject</a> <a href="#Disparity"><i>disparity</i></a>, out <a href="HObject.html">HObject</a> <a href="#Score"><i>score</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Method"><i>method</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MaskWidth"><i>maskWidth</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MaskHeight"><i>maskHeight</i></a>, <a href="HTuple.html">HTuple</a> <a href="#TextureThresh"><i>textureThresh</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MinDisparity"><i>minDisparity</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MaxDisparity"><i>maxDisparity</i></a>, <a href="HTuple.html">HTuple</a> <a href="#NumLevels"><i>numLevels</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ScoreThresh"><i>scoreThresh</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Filter"><i>filter</i></a>, <a href="HTuple.html">HTuple</a> <a href="#SubDisparity"><i>subDisparity</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>.<b>BinocularDisparity</b>(<a href="HImage.html">HImage</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HImage.html">HImage</a> <a href="#Score"><i>score</i></a>, string <a href="#Method"><i>method</i></a>, int <a href="#MaskWidth"><i>maskWidth</i></a>, int <a href="#MaskHeight"><i>maskHeight</i></a>, <a href="HTuple.html">HTuple</a> <a href="#TextureThresh"><i>textureThresh</i></a>, int <a href="#MinDisparity"><i>minDisparity</i></a>, int <a href="#MaxDisparity"><i>maxDisparity</i></a>, int <a href="#NumLevels"><i>numLevels</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ScoreThresh"><i>scoreThresh</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Filter"><i>filter</i></a>, string <a href="#SubDisparity"><i>subDisparity</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>.<b>BinocularDisparity</b>(<a href="HImage.html">HImage</a> <a href="#ImageRect2"><i>imageRect2</i></a>, out <a href="HImage.html">HImage</a> <a href="#Score"><i>score</i></a>, string <a href="#Method"><i>method</i></a>, int <a href="#MaskWidth"><i>maskWidth</i></a>, int <a href="#MaskHeight"><i>maskHeight</i></a>, double <a href="#TextureThresh"><i>textureThresh</i></a>, int <a href="#MinDisparity"><i>minDisparity</i></a>, int <a href="#MaxDisparity"><i>maxDisparity</i></a>, int <a href="#NumLevels"><i>numLevels</i></a>, double <a href="#ScoreThresh"><i>scoreThresh</i></a>, string <a href="#Filter"><i>filter</i></a>, string <a href="#SubDisparity"><i>subDisparity</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>binocular_disparity</b>(<a href="#ImageRect1"><i>image_rect_1</i></a>: HObject, <a href="#ImageRect2"><i>image_rect_2</i></a>: HObject, <a href="#Method"><i>method</i></a>: str, <a href="#MaskWidth"><i>mask_width</i></a>: int, <a href="#MaskHeight"><i>mask_height</i></a>: int, <a href="#TextureThresh"><i>texture_thresh</i></a>: Union[float, int], <a href="#MinDisparity"><i>min_disparity</i></a>: int, <a href="#MaxDisparity"><i>max_disparity</i></a>: int, <a href="#NumLevels"><i>num_levels</i></a>: int, <a href="#ScoreThresh"><i>score_thresh</i></a>: Union[float, int], <a href="#Filter"><i>filter</i></a>: MaybeSequence[str], <a href="#SubDisparity"><i>sub_disparity</i></a>: str) -&gt; Tuple[HObject, HObject]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p><code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code> computes pixel-wise correspondences
between two rectified images using correlation techniques. Different
from <a href="binocular_distance.html"><code><span data-if="hdevelop" style="display:inline">binocular_distance</span><span data-if="c" style="display:none">binocular_distance</span><span data-if="cpp" style="display:none">BinocularDistance</span><span data-if="com" style="display:none">BinocularDistance</span><span data-if="dotnet" style="display:none">BinocularDistance</span><span data-if="python" style="display:none">binocular_distance</span></code></a> the results are not transformed into
distance values.
</p>
<p>The algorithm requires a reference image <a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> and a
search image <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a> which must be rectified, i.e.,
corresponding epipolar lines are parallel and lie on identical image
rows (<span title="1" style="vertical-align:-0.260821em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="3.24717em" height="0.722762em" viewBox="0 0 51.954758 11.564194">
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</svg></span>). In case this assumption is
violated the images can be rectified by using 该算子s
<a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a>, <a href="gen_binocular_rectification_map.html"><code><span data-if="hdevelop" style="display:inline">gen_binocular_rectification_map</span><span data-if="c" style="display:none">gen_binocular_rectification_map</span><span data-if="cpp" style="display:none">GenBinocularRectificationMap</span><span data-if="com" style="display:none">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none">GenBinocularRectificationMap</span><span data-if="python" style="display:none">gen_binocular_rectification_map</span></code></a>,
and <a href="map_image.html"><code><span data-if="hdevelop" style="display:inline">map_image</span><span data-if="c" style="display:none">map_image</span><span data-if="cpp" style="display:none">MapImage</span><span data-if="com" style="display:none">MapImage</span><span data-if="dotnet" style="display:none">MapImage</span><span data-if="python" style="display:none">map_image</span></code></a>. Hence, given a pixel in the reference image
<a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> the homologous pixel in <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a> is
selected by searching along the corresponding row in
<a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a> and matching a local neighborhood within a
rectangular window of size <a href="#MaskWidth"><i><code><span data-if="hdevelop" style="display:inline">MaskWidth</span><span data-if="c" style="display:none">MaskWidth</span><span data-if="cpp" style="display:none">MaskWidth</span><span data-if="com" style="display:none">MaskWidth</span><span data-if="dotnet" style="display:none">maskWidth</span><span data-if="python" style="display:none">mask_width</span></code></i></a> and
<a href="#MaskHeight"><i><code><span data-if="hdevelop" style="display:inline">MaskHeight</span><span data-if="c" style="display:none">MaskHeight</span><span data-if="cpp" style="display:none">MaskHeight</span><span data-if="com" style="display:none">MaskHeight</span><span data-if="dotnet" style="display:none">maskHeight</span><span data-if="python" style="display:none">mask_height</span></code></i></a>. The pixel correspondences are returned in the
single-channel <a href="#Disparity"><i><code><span data-if="hdevelop" style="display:inline">Disparity</span><span data-if="c" style="display:none">Disparity</span><span data-if="cpp" style="display:none">Disparity</span><span data-if="com" style="display:none">Disparity</span><span data-if="dotnet" style="display:none">disparity</span><span data-if="python" style="display:none">disparity</span></code></i></a> image <span title="2" style="vertical-align:-0.37221em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="3.63669em" height="1.12127em" viewBox="0 0 58.187103 17.940399">
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      <path style="fill-rule: evenodd;" d="M88.000000 -59.000000C85.000000 -44.000000,79.000000 -21.000000,79.000000 -16.000000C79.000000 2.000000,93.000000 11.000000,108.000000 11.000000C120.000000 11.000000,138.000000 3.000000,145.000000 -17.000000C147.000000 -21.000000,181.000000 -157.000000,185.000000 -175.000000C193.000000 -208.000000,211.000000 -278.000000,217.000000 -305.000000C221.000000 -318.000000,249.000000 -365.000000,273.000000 -387.000000C281.000000 -394.000000,310.000000 -420.000000,353.000000 -420.000000C379.000000 -420.000000,394.000000 -408.000000,395.000000 -408.000000C365.000000 -403.000000,343.000000 -379.000000,343.000000 -353.000000C343.000000 -337.000000,354.000000 -318.000000,381.000000 -318.000000C408.000000 -318.000000,436.000000 -341.000000,436.000000 -377.000000C436.000000 -412.000000,404.000000 -442.000000,353.000000 -442.000000C288.000000 -442.000000,244.000000 -393.000000,225.000000 -365.000000C217.000000 -410.000000,181.000000 -442.000000,134.000000 -442.000000C88.000000 -442.000000,69.000000 -403.000000,60.000000 -385.000000C42.000000 -351.000000,29.000000 -291.000000,29.000000 -288.000000C29.000000 -278.000000,39.000000 -278.000000,41.000000 -278.000000C51.000000 -278.000000,52.000000 -279.000000,58.000000 -301.000000C75.000000 -372.000000,95.000000 -420.000000,131.000000 -420.000000C148.000000 -420.000000,162.000000 -412.000000,162.000000 -374.000000C162.000000 -353.000000,159.000000 -342.000000,146.000000 -290.000000"></path>
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.922440 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,9.219131 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,15.418030 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,22.609726 14.376099)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,29.760635 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,36.845306 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,43.743408 14.376099)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,50.894485 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_41"></use>
  </g>
</svg></span> which specifies for each pixel <span title="3" style="vertical-align:-0.37221em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="3.24821em" height="1.12127em" viewBox="0 0 51.971375 17.940399">
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    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_40">
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    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_41">
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      <path style="fill-rule: evenodd;" d="M294.000000 -640.000000C294.000000 -664.000000,294.000000 -666.000000,271.000000 -666.000000C209.000000 -602.000000,121.000000 -602.000000,89.000000 -602.000000L89.000000 -571.000000C109.000000 -571.000000,168.000000 -571.000000,220.000000 -597.000000L220.000000 -79.000000C220.000000 -43.000000,217.000000 -31.000000,127.000000 -31.000000L95.000000 -31.000000L95.000000 -0.000000L257.000000 -0.000000L130.000000 -3.000000L217.000000 -3.000000L257.000000 -3.000000L297.000000 -3.000000L384.000000 -3.000000L419.000000 -0.000000L419.000000 -31.000000L387.000000 -31.000000C297.000000 -31.000000,294.000000 -42.000000,294.000000 -79.000000"></path>
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    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_59">
      <path style="fill-rule: evenodd;" d="M203.000000 -1.000000C203.000000 -67.000000,178.000000 -106.000000,139.000000 -106.000000C106.000000 -106.000000,86.000000 -81.000000,86.000000 -53.000000C86.000000 -26.000000,106.000000 -0.000000,139.000000 -0.000000C151.000000 -0.000000,164.000000 -4.000000,174.000000 -13.000000C177.000000 -15.000000,178.000000 -16.000000,179.000000 -16.000000C180.000000 -16.000000,181.000000 -15.000000,181.000000 -1.000000C181.000000 73.000000,146.000000 133.000000,113.000000 166.000000C102.000000 177.000000,102.000000 179.000000,102.000000 182.000000C102.000000 189.000000,107.000000 193.000000,112.000000 193.000000C123.000000 193.000000,203.000000 116.000000,203.000000 -1.000000"></path>
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    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_99">
      <path style="fill-rule: evenodd;" d="M396.000000 -380.000000C380.000000 -380.000000,366.000000 -380.000000,352.000000 -366.000000C336.000000 -351.000000,334.000000 -334.000000,334.000000 -327.000000C334.000000 -303.000000,352.000000 -292.000000,371.000000 -292.000000C400.000000 -292.000000,427.000000 -316.000000,427.000000 -356.000000C427.000000 -405.000000,380.000000 -442.000000,309.000000 -442.000000C174.000000 -442.000000,41.000000 -299.000000,41.000000 -158.000000C41.000000 -68.000000,99.000000 11.000000,203.000000 11.000000C346.000000 11.000000,430.000000 -95.000000,430.000000 -107.000000C430.000000 -113.000000,424.000000 -120.000000,418.000000 -120.000000C413.000000 -120.000000,411.000000 -118.000000,405.000000 -110.000000C326.000000 -11.000000,217.000000 -11.000000,205.000000 -11.000000C142.000000 -11.000000,115.000000 -60.000000,115.000000 -120.000000C115.000000 -161.000000,135.000000 -258.000000,169.000000 -320.000000C200.000000 -377.000000,255.000000 -420.000000,310.000000 -420.000000C344.000000 -420.000000,382.000000 -407.000000,396.000000 -380.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_114">
      <path style="fill-rule: evenodd;" d="M88.000000 -59.000000C85.000000 -44.000000,79.000000 -21.000000,79.000000 -16.000000C79.000000 2.000000,93.000000 11.000000,108.000000 11.000000C120.000000 11.000000,138.000000 3.000000,145.000000 -17.000000C147.000000 -21.000000,181.000000 -157.000000,185.000000 -175.000000C193.000000 -208.000000,211.000000 -278.000000,217.000000 -305.000000C221.000000 -318.000000,249.000000 -365.000000,273.000000 -387.000000C281.000000 -394.000000,310.000000 -420.000000,353.000000 -420.000000C379.000000 -420.000000,394.000000 -408.000000,395.000000 -408.000000C365.000000 -403.000000,343.000000 -379.000000,343.000000 -353.000000C343.000000 -337.000000,354.000000 -318.000000,381.000000 -318.000000C408.000000 -318.000000,436.000000 -341.000000,436.000000 -377.000000C436.000000 -412.000000,404.000000 -442.000000,353.000000 -442.000000C288.000000 -442.000000,244.000000 -393.000000,225.000000 -365.000000C217.000000 -410.000000,181.000000 -442.000000,134.000000 -442.000000C88.000000 -442.000000,69.000000 -403.000000,60.000000 -385.000000C42.000000 -351.000000,29.000000 -291.000000,29.000000 -288.000000C29.000000 -278.000000,39.000000 -278.000000,41.000000 -278.000000C51.000000 -278.000000,52.000000 -279.000000,58.000000 -301.000000C75.000000 -372.000000,95.000000 -420.000000,131.000000 -420.000000C148.000000 -420.000000,162.000000 -412.000000,162.000000 -374.000000C162.000000 -353.000000,159.000000 -342.000000,146.000000 -290.000000"></path>
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.030304 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_40"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,6.229202 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_114"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,13.863663 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_49"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,21.833755 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_59"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,28.918259 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_99"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,35.816528 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_49"></use>
    <use xlink:href="#GLYPHcmr10_41" x="5.000095"></use>
  </g>
</svg></span> of
the reference image <a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> a suitable matching pixel
<span title="4" style="vertical-align:-0.37221em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="3.24821em" height="1.12127em" viewBox="0 0 51.971375 17.940399">
<!-- Original BoundingBox: -25.985687 -8.970200 25.985687 8.970200 -->
  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_40">
      <path style="fill-rule: evenodd;" d="M331.000000 240.000000C331.000000 237.000000,331.000000 235.000000,314.000000 218.000000C189.000000 92.000000,157.000000 -97.000000,157.000000 -250.000000C157.000000 -424.000000,195.000000 -598.000000,318.000000 -723.000000C331.000000 -735.000000,331.000000 -737.000000,331.000000 -740.000000C331.000000 -747.000000,327.000000 -750.000000,321.000000 -750.000000C311.000000 -750.000000,221.000000 -682.000000,162.000000 -555.000000C111.000000 -445.000000,99.000000 -334.000000,99.000000 -250.000000C99.000000 -172.000000,110.000000 -51.000000,165.000000 62.000000C225.000000 185.000000,311.000000 250.000000,321.000000 250.000000C327.000000 250.000000,331.000000 247.000000,331.000000 240.000000"></path>
    </g>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_41">
      <path style="fill-rule: evenodd;" d="M289.000000 -250.000000C289.000000 -328.000000,278.000000 -449.000000,223.000000 -562.000000C163.000000 -685.000000,77.000000 -750.000000,67.000000 -750.000000C61.000000 -750.000000,57.000000 -746.000000,57.000000 -740.000000C57.000000 -737.000000,57.000000 -735.000000,76.000000 -717.000000C174.000000 -618.000000,231.000000 -459.000000,231.000000 -250.000000C231.000000 -79.000000,194.000000 97.000000,70.000000 223.000000C57.000000 235.000000,57.000000 237.000000,57.000000 240.000000C57.000000 246.000000,61.000000 250.000000,67.000000 250.000000C77.000000 250.000000,167.000000 182.000000,226.000000 55.000000C277.000000 -55.000000,289.000000 -166.000000,289.000000 -250.000000"></path>
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    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_50">
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    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_59">
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    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_99">
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    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_114">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.030304 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_40"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,6.229202 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_114"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,13.863663 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_50"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,21.833755 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_59"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,28.918259 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_99"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,35.816528 11.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_50"></use>
    <use xlink:href="#GLYPHcmr10_41" x="5.000095"></use>
  </g>
</svg></span> of <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a> according to the equation
<span title="5" style="vertical-align:-0.37221em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="7.93885em" height="1.12127em" viewBox="0 0 127.021591 17.940399">
<!-- Original BoundingBox: -63.510803 -8.970200 63.510788 8.970200 -->
  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmr10_40">
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</svg></span>.
A quality measure for each disparity value is returned in <a href="#Score"><i><code><span data-if="hdevelop" style="display:inline">Score</span><span data-if="c" style="display:none">Score</span><span data-if="cpp" style="display:none">Score</span><span data-if="com" style="display:none">Score</span><span data-if="dotnet" style="display:none">score</span><span data-if="python" style="display:none">score</span></code></i></a>,
containing the best result of the matching function S of a reference
pixel. For the matching, the gray values of the original unprocessed
images are used.
</p>
<p>The used matching function is defined by the parameter
<a href="#Method"><i><code><span data-if="hdevelop" style="display:inline">Method</span><span data-if="c" style="display:none">Method</span><span data-if="cpp" style="display:none">Method</span><span data-if="com" style="display:none">Method</span><span data-if="dotnet" style="display:none">method</span><span data-if="python" style="display:none">method</span></code></i></a> allocating three different kinds of correlation:
</p>
<ul>
<li>
<p> <i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i>: Summed Absolute Differences
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</li>
<li>
<p> <i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i>: Summed Squared Differences
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</li>
<li>
<p> <i><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span></i>: Normalized Cross Correlation
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</svg></span>.
</p>
</li>
</ul>
<p>
with </p>
<p>
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</svg></span>:
row and column coordinates of the corresponding
pixels of the two input images,</p>
<p>
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</svg></span>: gray values of the unprocessed input images,</p>
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</svg></span>: size of correlation window </p>
<p>
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,21.592972 10.472168)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_43"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,37.533188 10.472168)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr10_49"></use>
  </g>
</svg></span>. </p>
<p>Note that the methods <i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i> and <i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i> compare the
gray values of the pixels within a mask window directly, whereas
<i><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span></i> compensates for the mean gray value and its variance
within the mask window. Therefore, if the two images differ in
brightness and contrast, this method should be preferred. For images
with similar brightness and contrast <i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i> and
<i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i> are to be preferred as they are faster because of
less complex internal computations.
</p>
<p>It should be noted, that the quality of correlation for rising
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.661407 11.446259)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
</svg></span> is falling in methods <i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i> and <i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i>
(the best quality value is 0) but rising in method <i><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span></i>
(the best quality value is 1.0).
</p>
<p>The size of the correlation window, referenced by <span title="23" style="vertical-align:-0.195552em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="3.21465em" height="0.850062em" viewBox="0 0 51.434418 13.600998">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,8.268906 10.472168)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,41.747116 10.472168)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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</svg></span>
and <span title="24" style="vertical-align:-0.195552em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="2.93791em" height="0.850062em" viewBox="0 0 47.006561 13.600998">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.512711 10.472168)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,8.482834 10.472168)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,21.592972 10.472168)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,37.533188 10.472168)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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</svg></span>, has to be odd numbered and is passed in
<a href="#MaskWidth"><i><code><span data-if="hdevelop" style="display:inline">MaskWidth</span><span data-if="c" style="display:none">MaskWidth</span><span data-if="cpp" style="display:none">MaskWidth</span><span data-if="com" style="display:none">MaskWidth</span><span data-if="dotnet" style="display:none">maskWidth</span><span data-if="python" style="display:none">mask_width</span></code></i></a> and <a href="#MaskHeight"><i><code><span data-if="hdevelop" style="display:inline">MaskHeight</span><span data-if="c" style="display:none">MaskHeight</span><span data-if="cpp" style="display:none">MaskHeight</span><span data-if="com" style="display:none">MaskHeight</span><span data-if="dotnet" style="display:none">maskHeight</span><span data-if="python" style="display:none">mask_height</span></code></i></a>. The search space is
confined by the minimum and maximum disparity value
<a href="#MinDisparity"><i><code><span data-if="hdevelop" style="display:inline">MinDisparity</span><span data-if="c" style="display:none">MinDisparity</span><span data-if="cpp" style="display:none">MinDisparity</span><span data-if="com" style="display:none">MinDisparity</span><span data-if="dotnet" style="display:none">minDisparity</span><span data-if="python" style="display:none">min_disparity</span></code></i></a> and <a href="#MaxDisparity"><i><code><span data-if="hdevelop" style="display:inline">MaxDisparity</span><span data-if="c" style="display:none">MaxDisparity</span><span data-if="cpp" style="display:none">MaxDisparity</span><span data-if="com" style="display:none">MaxDisparity</span><span data-if="dotnet" style="display:none">maxDisparity</span><span data-if="python" style="display:none">max_disparity</span></code></i></a>. Due to pixel values
not defined beyond the image border the resulting domain of
<a href="#Disparity"><i><code><span data-if="hdevelop" style="display:inline">Disparity</span><span data-if="c" style="display:none">Disparity</span><span data-if="cpp" style="display:none">Disparity</span><span data-if="com" style="display:none">Disparity</span><span data-if="dotnet" style="display:none">disparity</span><span data-if="python" style="display:none">disparity</span></code></i></a> and <a href="#Score"><i><code><span data-if="hdevelop" style="display:inline">Score</span><span data-if="c" style="display:none">Score</span><span data-if="cpp" style="display:none">Score</span><span data-if="com" style="display:none">Score</span><span data-if="dotnet" style="display:none">score</span><span data-if="python" style="display:none">score</span></code></i></a> is not set along the image
border within a margin of height (<a href="#MaskHeight"><i><code><span data-if="hdevelop" style="display:inline">MaskHeight</span><span data-if="c" style="display:none">MaskHeight</span><span data-if="cpp" style="display:none">MaskHeight</span><span data-if="com" style="display:none">MaskHeight</span><span data-if="dotnet" style="display:none">maskHeight</span><span data-if="python" style="display:none">mask_height</span></code></i></a>-1)/2 at the
top and bottom border and of width (<a href="#MaskWidth"><i><code><span data-if="hdevelop" style="display:inline">MaskWidth</span><span data-if="c" style="display:none">MaskWidth</span><span data-if="cpp" style="display:none">MaskWidth</span><span data-if="com" style="display:none">MaskWidth</span><span data-if="dotnet" style="display:none">maskWidth</span><span data-if="python" style="display:none">mask_width</span></code></i></a>-1)/2 at the
left and right border. For the same reason, the maximum disparity
range is reduced at the left and right image border.
</p>
<p>Since matching turns out to be highly unreliable when dealing with
poorly textured areas, the minimum statistical spread of gray values
within the correlation window can be defined in
<a href="#TextureThresh"><i><code><span data-if="hdevelop" style="display:inline">TextureThresh</span><span data-if="c" style="display:none">TextureThresh</span><span data-if="cpp" style="display:none">TextureThresh</span><span data-if="com" style="display:none">TextureThresh</span><span data-if="dotnet" style="display:none">textureThresh</span><span data-if="python" style="display:none">texture_thresh</span></code></i></a>. This threshold is applied on both input
images <a href="#ImageRect1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></i></a> and <a href="#ImageRect2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></i></a>. In addition,
<a href="#ScoreThresh"><i><code><span data-if="hdevelop" style="display:inline">ScoreThresh</span><span data-if="c" style="display:none">ScoreThresh</span><span data-if="cpp" style="display:none">ScoreThresh</span><span data-if="com" style="display:none">ScoreThresh</span><span data-if="dotnet" style="display:none">scoreThresh</span><span data-if="python" style="display:none">score_thresh</span></code></i></a> guarantees the matching quality and defines the
maximum (<i><span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span></i>,<i><span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></i>) or, respectively, minimum
(<i><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span></i>) score value of the correlation function. Setting
<a href="#Filter"><i><code><span data-if="hdevelop" style="display:inline">Filter</span><span data-if="c" style="display:none">Filter</span><span data-if="cpp" style="display:none">Filter</span><span data-if="com" style="display:none">Filter</span><span data-if="dotnet" style="display:none">filter</span><span data-if="python" style="display:none">filter</span></code></i></a> to <i><span data-if="hdevelop" style="display:inline">'left_right_check'</span><span data-if="c" style="display:none">"left_right_check"</span><span data-if="cpp" style="display:none">"left_right_check"</span><span data-if="com" style="display:none">"left_right_check"</span><span data-if="dotnet" style="display:none">"left_right_check"</span><span data-if="python" style="display:none">"left_right_check"</span></i>, moreover, increases
the robustness of the returned matches, as the result relies on a
concurrent direct and reverse match, whereas <i><span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></i>
switches it off.
</p>
<p>The number of pyramid levels used to improve the time response of
<code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code> is determined by
<a href="#NumLevels"><i><code><span data-if="hdevelop" style="display:inline">NumLevels</span><span data-if="c" style="display:none">NumLevels</span><span data-if="cpp" style="display:none">NumLevels</span><span data-if="com" style="display:none">NumLevels</span><span data-if="dotnet" style="display:none">numLevels</span><span data-if="python" style="display:none">num_levels</span></code></i></a>. Following a coarse-to-fine scheme disparity
images of higher levels are computed and segmented into rectangular
subimages of similar disparity to reduce the disparity range on the
next lower pyramid level. <a href="#TextureThresh"><i><code><span data-if="hdevelop" style="display:inline">TextureThresh</span><span data-if="c" style="display:none">TextureThresh</span><span data-if="cpp" style="display:none">TextureThresh</span><span data-if="com" style="display:none">TextureThresh</span><span data-if="dotnet" style="display:none">textureThresh</span><span data-if="python" style="display:none">texture_thresh</span></code></i></a> and
<a href="#ScoreThresh"><i><code><span data-if="hdevelop" style="display:inline">ScoreThresh</span><span data-if="c" style="display:none">ScoreThresh</span><span data-if="cpp" style="display:none">ScoreThresh</span><span data-if="com" style="display:none">ScoreThresh</span><span data-if="dotnet" style="display:none">scoreThresh</span><span data-if="python" style="display:none">score_thresh</span></code></i></a> are applied on every level and the returned
domain of the <a href="#Disparity"><i><code><span data-if="hdevelop" style="display:inline">Disparity</span><span data-if="c" style="display:none">Disparity</span><span data-if="cpp" style="display:none">Disparity</span><span data-if="com" style="display:none">Disparity</span><span data-if="dotnet" style="display:none">disparity</span><span data-if="python" style="display:none">disparity</span></code></i></a> and <a href="#Score"><i><code><span data-if="hdevelop" style="display:inline">Score</span><span data-if="c" style="display:none">Score</span><span data-if="cpp" style="display:none">Score</span><span data-if="com" style="display:none">Score</span><span data-if="dotnet" style="display:none">score</span><span data-if="python" style="display:none">score</span></code></i></a> images arises
from the intersection of the resulting domains of every single
level. Generally, pyramid structures are the more advantageous the
more the disparity image can be segmented into regions of
homogeneous disparities and the bigger the disparity range is
specified. As a drawback, coarse pyramid levels might loose
important texture information which can result in deficient
disparity values.
</p>
<p>Finally, the value <i><span data-if="hdevelop" style="display:inline">'interpolation'</span><span data-if="c" style="display:none">"interpolation"</span><span data-if="cpp" style="display:none">"interpolation"</span><span data-if="com" style="display:none">"interpolation"</span><span data-if="dotnet" style="display:none">"interpolation"</span><span data-if="python" style="display:none">"interpolation"</span></i> for parameter
<a href="#SubDisparity"><i><code><span data-if="hdevelop" style="display:inline">SubDisparity</span><span data-if="c" style="display:none">SubDisparity</span><span data-if="cpp" style="display:none">SubDisparity</span><span data-if="com" style="display:none">SubDisparity</span><span data-if="dotnet" style="display:none">subDisparity</span><span data-if="python" style="display:none">sub_disparity</span></code></i></a> performs subpixel refinement of
disparities. It is switched off by setting the parameter to
<i><span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></i>.</p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  
    <li>Automatically parallelized on internal data level.</li>
  
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="ImageRect1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ImageRect1</span><span data-if="c" style="display:none">ImageRect1</span><span data-if="cpp" style="display:none">ImageRect1</span><span data-if="com" style="display:none">ImageRect1</span><span data-if="dotnet" style="display:none">imageRect1</span><span data-if="python" style="display:none">image_rect_1</span></code></b> (input_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte)</span>
</div>
<p class="pardesc">Rectified image of camera 1.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="ImageRect2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ImageRect2</span><span data-if="c" style="display:none">ImageRect2</span><span data-if="cpp" style="display:none">ImageRect2</span><span data-if="com" style="display:none">ImageRect2</span><span data-if="dotnet" style="display:none">imageRect2</span><span data-if="python" style="display:none">image_rect_2</span></code></b> (input_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte)</span>
</div>
<p class="pardesc">Rectified image of camera 2.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Disparity" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Disparity</span><span data-if="c" style="display:none">Disparity</span><span data-if="cpp" style="display:none">Disparity</span><span data-if="com" style="display:none">Disparity</span><span data-if="dotnet" style="display:none">disparity</span><span data-if="python" style="display:none">disparity</span></code></b> (output_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject *</span> (real)</span>
</div>
<p class="pardesc">Disparity map.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Score" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Score</span><span data-if="c" style="display:none">Score</span><span data-if="cpp" style="display:none">Score</span><span data-if="com" style="display:none">Score</span><span data-if="dotnet" style="display:none">score</span><span data-if="python" style="display:none">score</span></code></b> (output_object)  </span><span>singlechannelimage <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject *</span> (real)</span>
</div>
<p class="pardesc">Evaluation of the disparity values.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Method" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Method</span><span data-if="c" style="display:none">Method</span><span data-if="cpp" style="display:none">Method</span><span data-if="com" style="display:none">Method</span><span data-if="dotnet" style="display:none">method</span><span data-if="python" style="display:none">method</span></code></b> (input_control)  </span><span>string <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Matching function.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'ncc'</span>
    <span data-if="c" style="display:none">"ncc"</span>
    <span data-if="cpp" style="display:none">"ncc"</span>
    <span data-if="com" style="display:none">"ncc"</span>
    <span data-if="dotnet" style="display:none">"ncc"</span>
    <span data-if="python" style="display:none">"ncc"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'ncc'</span><span data-if="c" style="display:none">"ncc"</span><span data-if="cpp" style="display:none">"ncc"</span><span data-if="com" style="display:none">"ncc"</span><span data-if="dotnet" style="display:none">"ncc"</span><span data-if="python" style="display:none">"ncc"</span>, <span data-if="hdevelop" style="display:inline">'sad'</span><span data-if="c" style="display:none">"sad"</span><span data-if="cpp" style="display:none">"sad"</span><span data-if="com" style="display:none">"sad"</span><span data-if="dotnet" style="display:none">"sad"</span><span data-if="python" style="display:none">"sad"</span>, <span data-if="hdevelop" style="display:inline">'ssd'</span><span data-if="c" style="display:none">"ssd"</span><span data-if="cpp" style="display:none">"ssd"</span><span data-if="com" style="display:none">"ssd"</span><span data-if="dotnet" style="display:none">"ssd"</span><span data-if="python" style="display:none">"ssd"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MaskWidth" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MaskWidth</span><span data-if="c" style="display:none">MaskWidth</span><span data-if="cpp" style="display:none">MaskWidth</span><span data-if="com" style="display:none">MaskWidth</span><span data-if="dotnet" style="display:none">maskWidth</span><span data-if="python" style="display:none">mask_width</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Width of the correlation window.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>11</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>5, 7, 9, 11, 21</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>3 &lt;= MaskWidth &amp;&amp; odd(MaskWidth)</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MaskHeight" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MaskHeight</span><span data-if="c" style="display:none">MaskHeight</span><span data-if="cpp" style="display:none">MaskHeight</span><span data-if="com" style="display:none">MaskHeight</span><span data-if="dotnet" style="display:none">maskHeight</span><span data-if="python" style="display:none">mask_height</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Height of the correlation window.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>11</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>5, 7, 9, 11, 21</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>3 &lt;= MaskHeight &amp;&amp; odd(MaskHeight)</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="TextureThresh" class="parname"><b><code><span data-if="hdevelop" style="display:inline">TextureThresh</span><span data-if="c" style="display:none">TextureThresh</span><span data-if="cpp" style="display:none">TextureThresh</span><span data-if="com" style="display:none">TextureThresh</span><span data-if="dotnet" style="display:none">textureThresh</span><span data-if="python" style="display:none">texture_thresh</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Union[float, int]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Variance threshold of textured image regions.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0.0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0.0, 10.0, 30.0</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>0.0 &lt;= TextureThresh</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MinDisparity" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MinDisparity</span><span data-if="c" style="display:none">MinDisparity</span><span data-if="cpp" style="display:none">MinDisparity</span><span data-if="com" style="display:none">MinDisparity</span><span data-if="dotnet" style="display:none">minDisparity</span><span data-if="python" style="display:none">min_disparity</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Minimum of the expected disparities.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>-30</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>-32768
          ≤
        
    <span data-if="hdevelop" style="display:inline">MinDisparity</span>
    <span data-if="c" style="display:none">MinDisparity</span>
    <span data-if="cpp" style="display:none">MinDisparity</span>
    <span data-if="com" style="display:none">MinDisparity</span>
    <span data-if="dotnet" style="display:none">minDisparity</span>
    <span data-if="python" style="display:none">min_disparity</span>
    
          ≤
          32767</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MaxDisparity" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MaxDisparity</span><span data-if="c" style="display:none">MaxDisparity</span><span data-if="cpp" style="display:none">MaxDisparity</span><span data-if="com" style="display:none">MaxDisparity</span><span data-if="dotnet" style="display:none">maxDisparity</span><span data-if="python" style="display:none">max_disparity</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Maximum of the expected disparities.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>30</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>-32768
          ≤
        
    <span data-if="hdevelop" style="display:inline">MaxDisparity</span>
    <span data-if="c" style="display:none">MaxDisparity</span>
    <span data-if="cpp" style="display:none">MaxDisparity</span>
    <span data-if="com" style="display:none">MaxDisparity</span>
    <span data-if="dotnet" style="display:none">maxDisparity</span>
    <span data-if="python" style="display:none">max_disparity</span>
    
          ≤
          32767</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="NumLevels" class="parname"><b><code><span data-if="hdevelop" style="display:inline">NumLevels</span><span data-if="c" style="display:none">NumLevels</span><span data-if="cpp" style="display:none">NumLevels</span><span data-if="com" style="display:none">NumLevels</span><span data-if="dotnet" style="display:none">numLevels</span><span data-if="python" style="display:none">num_levels</span></code></b> (input_control)  </span><span>integer <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">int</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Number of pyramid levels.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>1</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>1, 2, 3, 4</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>1 &lt;= NumLevels</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="ScoreThresh" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ScoreThresh</span><span data-if="c" style="display:none">ScoreThresh</span><span data-if="cpp" style="display:none">ScoreThresh</span><span data-if="com" style="display:none">ScoreThresh</span><span data-if="dotnet" style="display:none">scoreThresh</span><span data-if="python" style="display:none">score_thresh</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Union[float, int]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Threshold of the correlation function.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0.5</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>-1.0, 0.0, 0.3, 0.5, 0.7</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Filter" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Filter</span><span data-if="c" style="display:none">Filter</span><span data-if="cpp" style="display:none">Filter</span><span data-if="com" style="display:none">Filter</span><span data-if="dotnet" style="display:none">filter</span><span data-if="python" style="display:none">filter</span></code></b> (input_control)  </span><span>string(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">MaybeSequence[str]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Downstream filters.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'none'</span>
    <span data-if="c" style="display:none">"none"</span>
    <span data-if="cpp" style="display:none">"none"</span>
    <span data-if="com" style="display:none">"none"</span>
    <span data-if="dotnet" style="display:none">"none"</span>
    <span data-if="python" style="display:none">"none"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'left_right_check'</span><span data-if="c" style="display:none">"left_right_check"</span><span data-if="cpp" style="display:none">"left_right_check"</span><span data-if="com" style="display:none">"left_right_check"</span><span data-if="dotnet" style="display:none">"left_right_check"</span><span data-if="python" style="display:none">"left_right_check"</span>, <span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="SubDisparity" class="parname"><b><code><span data-if="hdevelop" style="display:inline">SubDisparity</span><span data-if="c" style="display:none">SubDisparity</span><span data-if="cpp" style="display:none">SubDisparity</span><span data-if="com" style="display:none">SubDisparity</span><span data-if="dotnet" style="display:none">subDisparity</span><span data-if="python" style="display:none">sub_disparity</span></code></b> (input_control)  </span><span>string <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Subpixel interpolation of disparities.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'none'</span>
    <span data-if="c" style="display:none">"none"</span>
    <span data-if="cpp" style="display:none">"none"</span>
    <span data-if="com" style="display:none">"none"</span>
    <span data-if="dotnet" style="display:none">"none"</span>
    <span data-if="python" style="display:none">"none"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'interpolation'</span><span data-if="c" style="display:none">"interpolation"</span><span data-if="cpp" style="display:none">"interpolation"</span><span data-if="com" style="display:none">"interpolation"</span><span data-if="dotnet" style="display:none">"interpolation"</span><span data-if="python" style="display:none">"interpolation"</span>, <span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></p>
</div>
<div data-if="hdevelop" style="display:inline">
<h2 id="sec_example_hdevelop">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)

* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose, \
                                 1, 'viewing_direction', 'bilinear', \
                                 CamParamRect1,CamParamRect2, \
                                 Cam1PoseRect1, Cam2PoseRect2,RelPoseRect)

* Compute the disparities in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageRect1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageRect2)

  binocular_disparity(ImageRect1, ImageRect2, Disparity, Score, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, 'left_right_check', \
                      'interpolation')
endwhile
</pre>
</div>
<div data-if="c" style="display:none">
<h2 id="sec_example_c">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)

* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose, \
                                 1, 'viewing_direction', 'bilinear', \
                                 CamParamRect1,CamParamRect2, \
                                 Cam1PoseRect1, Cam2PoseRect2,RelPoseRect)

* Compute the disparities in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageRect1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageRect2)

  binocular_disparity(ImageRect1, ImageRect2, Disparity, Score, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, 'left_right_check', \
                      'interpolation')
endwhile
</pre>
</div>
<div data-if="cpp" style="display:none">
<h2 id="sec_example_cpp">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)

* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose, \
                                 1, 'viewing_direction', 'bilinear', \
                                 CamParamRect1,CamParamRect2, \
                                 Cam1PoseRect1, Cam2PoseRect2,RelPoseRect)

* Compute the disparities in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageRect1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageRect2)

  binocular_disparity(ImageRect1, ImageRect2, Disparity, Score, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, 'left_right_check', \
                      'interpolation')
endwhile
</pre>
</div>
<div data-if="com" style="display:none">
<h2 id="sec_example_com">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)

* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose, \
                                 1, 'viewing_direction', 'bilinear', \
                                 CamParamRect1,CamParamRect2, \
                                 Cam1PoseRect1, Cam2PoseRect2,RelPoseRect)

* Compute the disparities in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageRect1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageRect2)

  binocular_disparity(ImageRect1, ImageRect2, Disparity, Score, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, 'left_right_check', \
                      'interpolation')
endwhile
</pre>
</div>
<div data-if="dotnet" style="display:none">
<h2 id="sec_example_dotnet">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)

* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose, \
                                 1, 'viewing_direction', 'bilinear', \
                                 CamParamRect1,CamParamRect2, \
                                 Cam1PoseRect1, Cam2PoseRect2,RelPoseRect)

* Compute the disparities in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageRect1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageRect2)

  binocular_disparity(ImageRect1, ImageRect2, Disparity, Score, 'sad', \
                      11, 11, 20, -40, 20, 2, 25, 'left_right_check', \
                      'interpolation')
endwhile
</pre>
</div>
<h2 id="sec_result">结果</h2>
<p><code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code> returns <TT>2</TT> (
      <TT>H_MSG_TRUE</TT>)
     if all parameter values are
correct. 如有必要，将引发异常。</p>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="map_image.html"><span data-if="hdevelop" style="display:inline">map_image</span><span data-if="c" style="display:none">map_image</span><span data-if="cpp" style="display:none">MapImage</span><span data-if="com" style="display:none">MapImage</span><span data-if="dotnet" style="display:none">MapImage</span><span data-if="python" style="display:none">map_image</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="threshold.html"><span data-if="hdevelop" style="display:inline">threshold</span><span data-if="c" style="display:none">threshold</span><span data-if="cpp" style="display:none">Threshold</span><span data-if="com" style="display:none">Threshold</span><span data-if="dotnet" style="display:none">Threshold</span><span data-if="python" style="display:none">threshold</span></a></code>, 
<code><a href="disparity_to_distance.html"><span data-if="hdevelop" style="display:inline">disparity_to_distance</span><span data-if="c" style="display:none">disparity_to_distance</span><span data-if="cpp" style="display:none">DisparityToDistance</span><span data-if="com" style="display:none">DisparityToDistance</span><span data-if="dotnet" style="display:none">DisparityToDistance</span><span data-if="python" style="display:none">disparity_to_distance</span></a></code>, 
<code><a href="disparity_image_to_xyz.html"><span data-if="hdevelop" style="display:inline">disparity_image_to_xyz</span><span data-if="c" style="display:none">disparity_image_to_xyz</span><span data-if="cpp" style="display:none">DisparityImageToXyz</span><span data-if="com" style="display:none">DisparityImageToXyz</span><span data-if="dotnet" style="display:none">DisparityImageToXyz</span><span data-if="python" style="display:none">disparity_image_to_xyz</span></a></code>
</p>
<h2 id="sec_alternatives">可替代算子</h2>
<p>
<code><a href="binocular_disparity_mg.html"><span data-if="hdevelop" style="display:inline">binocular_disparity_mg</span><span data-if="c" style="display:none">binocular_disparity_mg</span><span data-if="cpp" style="display:none">BinocularDisparityMg</span><span data-if="com" style="display:none">BinocularDisparityMg</span><span data-if="dotnet" style="display:none">BinocularDisparityMg</span><span data-if="python" style="display:none">binocular_disparity_mg</span></a></code>, 
<code><a href="binocular_disparity_ms.html"><span data-if="hdevelop" style="display:inline">binocular_disparity_ms</span><span data-if="c" style="display:none">binocular_disparity_ms</span><span data-if="cpp" style="display:none">BinocularDisparityMs</span><span data-if="com" style="display:none">BinocularDisparityMs</span><span data-if="dotnet" style="display:none">BinocularDisparityMs</span><span data-if="python" style="display:none">binocular_disparity_ms</span></a></code>, 
<code><a href="binocular_distance.html"><span data-if="hdevelop" style="display:inline">binocular_distance</span><span data-if="c" style="display:none">binocular_distance</span><span data-if="cpp" style="display:none">BinocularDistance</span><span data-if="com" style="display:none">BinocularDistance</span><span data-if="dotnet" style="display:none">BinocularDistance</span><span data-if="python" style="display:none">binocular_distance</span></a></code>, 
<code><a href="binocular_distance_mg.html"><span data-if="hdevelop" style="display:inline">binocular_distance_mg</span><span data-if="c" style="display:none">binocular_distance_mg</span><span data-if="cpp" style="display:none">BinocularDistanceMg</span><span data-if="com" style="display:none">BinocularDistanceMg</span><span data-if="dotnet" style="display:none">BinocularDistanceMg</span><span data-if="python" style="display:none">binocular_distance_mg</span></a></code>, 
<code><a href="binocular_distance_ms.html"><span data-if="hdevelop" style="display:inline">binocular_distance_ms</span><span data-if="c" style="display:none">binocular_distance_ms</span><span data-if="cpp" style="display:none">BinocularDistanceMs</span><span data-if="com" style="display:none">BinocularDistanceMs</span><span data-if="dotnet" style="display:none">BinocularDistanceMs</span><span data-if="python" style="display:none">binocular_distance_ms</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="map_image.html"><span data-if="hdevelop" style="display:inline">map_image</span><span data-if="c" style="display:none">map_image</span><span data-if="cpp" style="display:none">MapImage</span><span data-if="com" style="display:none">MapImage</span><span data-if="dotnet" style="display:none">MapImage</span><span data-if="python" style="display:none">map_image</span></a></code>, 
<code><a href="gen_binocular_rectification_map.html"><span data-if="hdevelop" style="display:inline">gen_binocular_rectification_map</span><span data-if="c" style="display:none">gen_binocular_rectification_map</span><span data-if="cpp" style="display:none">GenBinocularRectificationMap</span><span data-if="com" style="display:none">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none">GenBinocularRectificationMap</span><span data-if="python" style="display:none">gen_binocular_rectification_map</span></a></code>, 
<code><a href="binocular_calibration.html"><span data-if="hdevelop" style="display:inline">binocular_calibration</span><span data-if="c" style="display:none">binocular_calibration</span><span data-if="cpp" style="display:none">BinocularCalibration</span><span data-if="com" style="display:none">BinocularCalibration</span><span data-if="dotnet" style="display:none">BinocularCalibration</span><span data-if="python" style="display:none">binocular_calibration</span></a></code>
</p>
<h2 id="sec_module">模块</h2>
<p>
3D Metrology</p>
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